Stability in the Frequency Domain

Introduction
For a control system, it is necessary to determine
whether the system is stable.
In previous chapters, we discussed stability and
developed various tools to determine stability.
To determine the stability of a closed-loop system,
we must investigate the characteristic equation of
the system.
Characteristic Equation

G(s)

F ( s ) 1 G( s ) H ( s ) 0
H (s)

Introduction
To ensure stability we must ascertain that all the
zeros of F(s) lie in the left hand of s-plane.
A frequency domain stability criterion was developed
by H.Nyquist in 1932.
The Nyquist stability criterion is based on a
theorem in the theory of the function of a complex
variable due to CauchyThe argument principle
(Cauchys theorem)

The Nyquist Criterion

A method to investigate the stability of a system in
terms of the open-loop frequency response.
It is sufficient and necessary condition of the stability
of the linear systems.
A closed loop system is stable if Z=0, where Z=P-2N
P is the number of open-loop poles of
G(s)H(s) in the right-hand of s-plane.
Im
N is the number of counterclockwise
encirclements of the (-1, j0) point
for the positive frequency
0
-1

value( 0 ).
Z is unstable poles of the system.

G(s)H(s)

Re

Example 1
Consider a unity-gain feedback system whose open-loop
transfer function is as follows
2
G( s)
s 1
1
G(s)
N

P 1
2
Z P 2N 0
0

2
1
Stable
A system is stable if Z=0, where Z=P-2N
P is the number of open-loop poles of G(s)H(s) in the right-hand of s-plane.
N is the number of counterclockwise encirclements of the (-1, j0) point
for the positive frequency value.
Z is unstable poles of the system.

Example 2
Consider a unity-gain feedback system whose
open-loop transfer function is as follows

0.5
G( s)
s 1
P 1

N 0

G(s)
0.5

Z P 2N 1

Unstable
There is one unstable pole of the system is in the right-hand of s-plane.

Example 3
Consider a single-loop control system,
where open-loop transfer function is
100
G( s) H ( s)
( s 1)(0.1s 1)

P 0,

N 0

Z P 2N 0
Stable

0
1

G(s)H(s)

Example 4
Consider a single-loop control system, where open-loop transfer function is

K
G( s)
s( s 2 2s 4)

G (s)

Determine the limiting value of K in order to maintain a stable system.

n 2

G( jn ) 900 900 1800

K
G( j 2)
1
2 4

In order to maintain a stable system

K 8

The changes of the open-loop gain only alter the magnitude of G(j)H(j).

Application of the Nyquist criterion in the Bode diagram

G(j)H(j) locus traverses the left real axis of the
point (-1, j0) in G(j)H(j)-plane
L()0dB and () =180o in Bode diagram
L 20 lg GH

1
()

3 0

GH

()

N N N

()

()
N N N

( L 0)

Application of the Nyquist criterion in the Bode diagram

We have the Nyquist criterion in the Bode diagram :

The sufficient and necessary condition of the stability of
the linear closed loop systems is : When vary from 0+ ,
the number of the net positive traversing is P/2.
Here: the net positive traversing Nthe difference between the
number of the positive traversing and the number of the negative
traversing in all L()0dB ranges of the open-loop systems Bode
diagram. N=N+-Npositive traversingN+

() traverses the -180o line from below to

above in the open-loop systems Bode diagram;

negative traversing N-

() traverses the -180o line

from above to below.

1
()

L 20 lg GH

3 0

GH

()

N N N

()

()
N N N

( L 0)

Application of the Nyquist criterion in the Bode diagram

The Bode diagram of a open-loop stable system is shown in

Fig., determine whether the closed loop system is stable.
Solution
Because the open-loop system
is stable, P = 0 .
In terms of the Nyquist
criterion in the Bode
diagram:
The number of the net
positive traversingis 0
( P/2 = 0 ).

L( )

20
40
L()

60
40

20

0dB, 0o

40
90o

180o

60

()
()

270o

The closed loop system is stable .

()

Relative Stability and the Nyquist Criterion

The Nyquist criterion provides us with suitable information

concerning the absolute stability and, furthermore, can be
utilized to define and ascertain the relative stability of a
system.
The Nyquist stability criterion is defined in terms of (-1,0)
point on the polar plot or the (0dB, -1800) point on the
Bode diagram. Clearly the proximity of the G( j ) H ( j ) -locus
to this stability point is a measure of the relative stability
of a system.
In frequency domain, the relative stability could be
described by the gain margin and the phase margin.

Gain margin and phase margin

The gain margin is defined as
h

1
or Ln 20 lg h 20 lg G( jg ) H ( jg ) (dB)
| G ( j g ) H ( j g ) |

g : G( j ) H ( j ) 1800 Phase-crossover frequency

g

The phase margin is 1800 G( jc ) H ( jc )

c : G( j ) H ( j ) 1 Gain-crossover frequency
c

[GH]

L
-1

The geometrical meanings

is shown in this Figure

GHg

20 lg GHg

GH
(a)

GH

(b)

Gain margin and phase margin

1/h

The physical signification :

h amount of the open-loop gain that can be
allowed to increase before the closed-loop
system reaches to be unstable.

Im

Re

For the minimum phase system:

h>1

the closed loop system is stable .

stable
Critical
stability

unstable

amount of the phase shift of

G(j)H(j) to be allowed before
the closed-loop system reaches to
be unstable.

For the minimum phase system: >0 the closed loop system is stable.

Example
1
G( j ) H ( j )
j ( j 1)(0.2 j 1)

Gain margin

Phase margin

Example
A unity-gain feedback system whose open-loop transfer function is :
G( s)

10
s(0.5s 1)(0.02s 1)

try to find gain margin and phase margin.

(1) when c , 20lg G( jc ) 0 c 4.47

180 G( jc )

20lgG( j) db / G( j)

[-20]

180 90 arctg (0.5c ) arctg (0.02c )

[-40]

tg[arctg (0.5g ) arctg (0.02g )] tg 90

g 10

Lh 20lg G( jg ) 14db

190

gain margin is
phase margin is 14 dB

Lh

(2) when =g , G( jg ) 180

90 arctg (0.5g ) arctg (0.02g ) 180

(1/ s)

c g 50

19

[-60]

90
180

20lgG( j)

G( j)

270